TestNonLinearOptimizationTransformation.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_TRANSFORMATION_H
#define META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_TRANSFORMATION_H
 
#include "ocean/test/testgeometry/TestGeometry.h"
 
#include "ocean/geometry/NonLinearOptimization.h"
 
#include "ocean/math/AnyCamera.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestGeometry
{
 
/**
 * This class implements the tests of the non linear optimization functions for transformations.
 * @ingroup testgeometry
 */
class OCEAN_TEST_GEOMETRY_EXPORT TestNonLinearOptimizationTransformation
{
    public:
 
        /**
         * Tests the non linear optimization function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker Optional worker object
         * @return True, if the entire function test has succeeded
         */
        static bool test(const double testDuration, Worker* worker);
 
        /**
         * Tests the non linear optimization function for a 6-DOF object transformation with fisheye camera.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationObjectTransformation(const double testDuration);
 
        /**
         * Tests the non linear optimizations function for a 6-DOF transformation with fisheye camera, with specified poses and correspondences.
         * @param camera The camera model to be used, must be valid
         * @param poses The number of camera poses, with range [2, infinity)
         * @param correspondences The number of point correspondences, with range [5, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationObjectTransformation(const AnyCamera& camera, const unsigned int poses, const unsigned int correspondences, const double testDuration);
 
        /**
         * Tests the non linear optimization function for a 6-DOF object transformation with stereo fisheye camera.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationObjectTransformationStereo(const double testDuration);
 
        /**
         * Tests the non linear optimizations function for a 6-DOF transformation with stereo fisheye camera, with specified poses and correspondences.
         * @param cameraA The first camera model to be used, must be valid
         * @param cameraB The second camera model to be used, must be valid
         * @param poses The number of camera poses, with range [2, infinity)
         * @param correspondences The number of point correspondences, with range [5, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testNonLinearOptimizationObjectTransformationStereo(const AnyCamera& cameraA, const AnyCamera& cameraB, const unsigned int poses, const unsigned int correspondences, const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTGEOMETRY_TEST_NON_LINEAR_OPTIMIZATION_TRANSFORMATION_H